Modular robotic tiles for physical interaction

ABSTRACT

A therapeutic training device includes a shallow housing having an upwardly open cavity in the top surface and a flexible and transparent cover which encloses the cavity at least partially. The housing further includes a force sensor placed inside the cavity communicating with the central part. The force sensor measures the force applied on the flexible and transparent cover and generates a response signal. The housing further includes a light source placed inside the cavity, the light source being visible through the flexible and transparent cover, and a central processor placed inside the housing, which activates the light sources in accordance with a specific software and evaluates the response signal from the force sensor in accordance with the specific software. A plurality of communication devices are located on the side surfaces and is controlled by the central processor and communicates with adjacent devices.

This application is a divisional of U.S. patent application Ser. No.12/450,665 filed on Oct. 5, 2009, which is a national stage ofPCT/DK09/000,072 filed on 26 Mar. 2009 and published in English, whichhas a priority of European Patent Appln. No. 08388012.0 filed 26 Mar.2008, hereby incorporated in their entirety by reference.

FIELD OF THE INVENTION

The present invention relates to exercise equipment or training devicesallowing the user to perform a specific physical activity aimed toimprove for example strength, stamina or agility of the user. Thetraining device may be designed to train certain parts of the body or toimprove the general fitness of the user. Training devices range fromsimple lifting weights, exercise balls and the like to more complextreadmills, exercise bikes and the like.

BACKGROUND OF THE INVENTION

Individuals recovering from a surgery or injury may speed up theirrecovery by the use of training devices. Such individuals typically needsmall and light training devices suitable for use in hospital or homeenvironments. Training devices suitable for physical therapy shouldpreferably be flexible, adjustable and work in a controlled manner to beusable for different patient groups needing different training.Depending on the body part in need of training a different trainingprogram may be required. Additionally, some patients are in need offrequent rest periods while others may train for a longer time period.

Most training devices provide a rather monotonous training without anyintellectual stimulation and tend to bore the user within a few minutesof activity. Additionally, most exercise systems are quite heavy andtherefore cannot be moved over a very far distance and provide verylittle portability.

SUMMARY OF THE INVENTION

It is an object according to the invention to provide a device and amethod for indoor physical activity, which gives the user increasedintellectual stimulation and thereby motivation during the trainingexercise. It is a further object of the invention to provide a system,which is both modular and flexible to allow it to be transported andassembled in any location.

The above object together with numerous other objects, advantages andfeatures which will be evident from the below detailed description ofthe presently preferred embodiments of the invention according to afirst aspect of the present invention are according to the teachings ofthe present invention obtained by a therapeutic training devicecomprising a shallow housing of a specific shape having a quadratic topsurface, a quadratic bottom surface and four thin rectangular sidesurfaces, the housing comprising: an upwardly open cavity in the topsurface, a flexible and transparent cover enclosing the cavity at leastpartially, the flexible and transparent cover having a size in the rangebetween the size of a human fist and the size of a human foot, anddefining a central part, a force sensor placed inside the cavity andcommunicating with the central part, the force sensor measuring theforce applied on the flexible and transparent cover and generating aresponse signal, a light source placed inside the cavity, the lightsource being visible through the flexible and transparent cover, acentral processor placed inside the housing for activating the lightsources in accordance with a specific software and evaluating theresponse signal from the force sensor in accordance with the specificsoftware, and a plurality of communication means located on the sidesurfaces controlled by the central processor and communicating withadjacent devices.

A user may interact with the therapeutic training device by applying ahand or a foot onto the flexible and transparent cover and theunderlying force sensor. The flexible and transparent cover having asize between a human fist and a human foot should be understood to meanthe flexible and transparent cover having a diameter preferably between5 to 30 cm and most preferably around 15 cm. The flexible andtransparent cover may be divided into one flexible but non-transparentpart and one transparent but rigid part. The flexible part maypreferably be made of a material of sufficient strength and shockresistance to be durable and at the same time the flexible part shouldbe soft not to injure the user. Preferably, a plastic material is used.The light source may be used for giving instructions and information tothe user. Alternatively, providing a sound pervious cover, the lightsource may be substituted with a sound source or a sound source may beused in addition to a light source.

The therapeutical training device is based upon modern artificialintelligence and robotics. It is applicable for different forms ofphysical activities, for example therapeutic rehabilitation, exercise,physiotherapy, sports, fitness and entertainment. At the same time itgives unique possibilities for documentation of the physical activityfor use in for example a therapeutic treatment. It is highly motivatingdue to immediate feedback and fun, interesting exercises. Severaltherapeutical training devices may be put together in a therapeuticaltraining system forming an electronic, interactive surface on a floor orwall and each activity or therapeutic treatment may have its ownappropriate control program or exercise. The use of the therapeuticaltraining system motivates the user to perform physical activities byproviding immediate feedback based upon physical interaction with thesystem and the user is able to make new physical set-ups within lessthan a minute.

Processing in electronic devices is traditionally based on centralcontrol. This is the case in VCRs, televisions, mobile phones,industrial robots, toy robots, etc. In such cases, the device iscontrolled by an electronic system with a central control. If just asmall part of the central control breaks down, the whole system/devicemay break down. The invention challenges the traditional centralcontrol, and allows processing to be distributed among a number ofprocessing units that can connect together to form a larger, collectivesystem. The individual therapeutical training device includes bothprocessing capabilities and communication capabilities. Thetherapeutical training system comprising a number of therapeuticaltraining devices allows the user to define the physical shape and thefunctionality of the therapeutical training system and to interact withthe therapeutical training device.

By enumeration of neighbours, the individual therapeutical trainingdevice is able to communicate with other specified therapeuticaltraining devices in the system. The detection of neighbours and theoverall structure can be done automatically by the system itself atrun-time, which facilitates easy modification of the physical form bythe user. With neighbour is meant any device adjacent to the sidesurfaces of the therapeutical training device and communicating with thetherapeutical training device. Four neighbours are possible, designatednorth, south, east and west.

User interaction and capabilities of constructing electronic devices areenhanced by particular processing methods. The invention allowsconstruction of both the physical shape and functionality through thephysical construction with no necessary computer skill or need for apersonal computer, external programming station, monitor or the like.

Exercises may be run as software on the therapeutical training system.The exercises may adjust themselves to fit any physical configurationconstructed by the user. Each exercise may be adjusted to fit particularuser groups and levels, such as therapeutic patients, fitness trainees,gamers, etc.

The therapeutical training system may preferably be used forrehabilitation of cardiac patients. For cardiac patients, the exerciseson the therapeutical training system may motivate a rise in pulse toappropriate levels. Due to the intellectually stimulating nature of theexercises, the patients find the rehabilitation activity fun andinteresting.

Use of the therapeutical training system is not limited to certainpatient groups. For instance, exercises that demand the correct movementof the knee and the correct force exerted onto the force sensor will besuitable for knee operated patients. For hip patients the exercises mayinclude walking paths that demand the appropriate weight and forceapplied on each of the therapeutical training devices, for elderlyexercises that stimulate balance training, etc.

Additionally, the therapeutical training system may be used forcognitive rehabilitation. Cognitive tasks may be implemented on thetherapeutical training system and feedback (light & sound) may be givento the user based upon the performance of the user on the cognitivetasks. Users may be challenged with different cognitive exercises andthe exercises may be easily adjustable to the different capabilities ofdifferent users. This may for example be imitation exercise for autisticchildren.

Further, the therapeutical training system may be used for fitnesstraining and sports training. For example, the therapeutical trainingsystem can be set up for precision shooting in football or handballtraining. Exercises may provide light patterns of different velocitywith the purpose of the sport trainee to hit the light and receivefeedback (light & sound) from the therapeutical training system whendoing so, e.g. to obtain an overall score. Fitness training is often arepetitive and individual activity. The therapeutical training systemprovides fitness training in the form of fun and challenging exercisesthat adapt the training level according to the capability of thetrainee.

Additionally, the exercises may be of social type by allowing aplurality of users to compete against each other in different exerciseson a single therapeutical training system. Hence, the therapeuticaltraining system may be used for individual training by a single user orfor simultaneous training by a group of users. Exercises may be designedto allow rehabilitation activities to be performed by a plurality e.g.two, three or four patients at the same time. In this way therehabilitation exercise may become a competitive exercise betweenpatients. Other user groups such as e.g. fitness trainees, sportstrainees, etc. may also use the social type exercises. In activitiessuch as physiotherapy and fitness training the invention provides aunique opportunity for such social activities and challenges forinstance in therapeutic rehabilitation practices. With other tools usedfor such training sessions such social use is often lacking and/orimpossible.

Additionally, the therapeutical training system may be used to definemusical expressions for music composition and live music performances.For instance, the physical interaction may control different MIDIsequences and thereby, for instance, allow music composers to play musicon the therapeutical training system or allow a music concert audienceto participate in live music concerts by interacting with thetherapeutical training system or allow home users to interact with musicalbums.

The therapeutical training system may be easily set up on the floor orwall within one minute. The therapeutical training devices may simplyattach to each other with magnets or alternatively another attachmentmechanism. Preferably, infrared communication means are used to avoidhaving to connect any wires. The therapeutical training system mayregister whether it is placed horizontally or vertically, and may byitself make the software exercises behave accordingly.

Additionally, a plurality of therapeutical training systems may be puttogether in a group and communicate with each other wireless. Forinstance, an exercise may be running distributed on a group oftherapeutical training systems on the floor and a group of therapeuticaltraining systems on the wall, demanding the user to interact physicallywith both the floor and the wall. A master device or a personal computermay be used for communication between the therapeutical trainingsystems.

The special features of the currently preferred embodiment of theinvention include the modularity, the possibility for users to modifythe physical shape, the easy setup, the possibility of exclusion of anexternal host computer, the self-contained energy source, the wirelesscommunication (local and global), and the individual exercises.

Additionally, the therapeutic therapy system may include means oflogging response signals from the force sensor on a memory unit anddisplaying the response signals or a result derived from the responsesignals on a display unit, monitor, personal computer or by means orlight and/or sound signals. The memory unit may preferably be a RAM,hard disk or CD/DVD unit. The memory unit may be communicating with thetherapeutic training device and/or the master device. The memory unitmay alternatively be a part of the therapeutic training device and/orthe master device.

The present invention also relates to a method of performing a physicaltherapy on a patient or person by providing the therapeutic trainingsystem as described above, loading the software comprising an exerciseprogram on the therapeutic training system, the exercise programcomprising a series of predefined exercises, wherein each exercisecomprises at least the following steps: instructing the patient byactivating the light source and/or sound source of a specifictherapeutic training device to apply a force onto the central part ofthe specific therapeutic therapy devices, and logging the responsesignal of the force sensor of the specific therapeutic training device.

The word patient should in this context be interpreted in its broadestsense and not limit the users to therapeutical users. Thus, the wordpatient also includes all possible professional and leisure users of thetherapeutical training system such as for example sports trainees,gamers and the like.

It is further evident that numerous variations of the exercise programdescribed in the method above may be realized. It follows acomprehensive but not limiting description of alternative methodsaccording to the present invention:

The method of performing a physical therapy as described above, whereinthe exercise program comprises a precision game, wherein an object isused for applying a force on the central part of the specifictherapeutic therapy device, the object being for example a football, asoccer ball, a basketball, a tennis ball or a handball.

The method of performing a physical therapy as described above, whereinthe exercise program comprises a balance game, wherein the therapeutictraining system is located in a horizontal position preferably on afloor and the patient is instructed by the light sources and/or soundsources to walk according to a specific path on the therapeuticaltherapy system and thereby sequentially applies a force onto the centralpart of a plurality of the therapeutical therapy devices.

The method of performing a physical therapy as described above, whereinthe exercise program comprises a musical game, wherein the therapeutictraining devices each trigger a different music sequence, allowing e.g.a music composer to compose a concert or interact with a music album byapplying a force onto the central part of a plurality of thetherapeutical therapy devices.

The method of performing a physical therapy as described above, whereinthe exercise program comprises a memory game, wherein the patient mustmemorize a sequence of light or sound signals and subsequently apply aforce onto the central part of a plurality of the therapeutical therapydevices according to the sequence.

The method of performing a physical therapy as described above, whereinthe exercise program comprises a dancing game, wherein the therapeutictraining system shows a light sequence and plays a music sequence andthe patient moves his/her feet to apply a force onto the central part ofthe therapeutic training device in a sequence according to the lightsequence and the music.

The method of performing a physical therapy as described above, whereinthe exercise program comprises a color game, wherein each color isrepresenting a specified body part, a therapeutical training deviceshowing a randomly selected color and the patient is applying a forceonto the central part of the therapeutic training device using thedesignated body part.

The method of performing a physical therapy as described above, whereinthe exercise program comprises a multiplayer game, wherein a pluralityof patients are interacting with one or more therapeutic trainingsystems, thereby the number of therapeutical training devices is atleast the same number as the number of patients.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a plurality of therapeutical training devices.

FIG. 2 illustrates a single therapeutical training device.

FIG. 3 illustrates an exploded view of a single therapeutical trainingdevice.

FIG. 4 a is a 3D view of a front of a single therapeutical trainingdevice.

FIG. 4 b is a different 3D view of a front of a single therapeuticaltraining device.

FIG. 4 c is a different 3D view of a front of a single therapeuticaltraining device.

FIG. 4 d is a rear view of a single therapeutical training device.

FIGS. 5 a-5 d illustrate a transparent view of a single therapeuticaltraining device from different angles.

FIGS. 6 a-6 j illustrate a flow chart of a printed circuit board of asingle therapeutical training device.

FIG. 7 is a layout of a circular printed circuit board.

FIGS. 8 a-8 d illustrate a flow chart of a PLB add-on chip.

FIG. 9 illustrates a physical layout of a PLB add-on chip.

FIGS. 10 a 1, 10 a 2 and 10 b are charts of component parts.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

A detailed description of the figures of a presently preferredembodiment of the invention follows below.

FIG. 1 shows a 2D view of a therapeutical training system (10) accordingto the invention. The therapeutical training system (10) comprises anumber of therapeutical training devices (12) of quadratic shapeoriented side-by-side forming a planar and flat structure. Eachtherapeutical training device (12) is oriented in a specific orientationjuxtaposed to at least one other therapeutical training device (12) andhas a user interface oriented in a certain direction towards the user.The therapeutical training device (12) further has communicatingfeatures for communicating with other therapeutical training devices(12). The master device (12′) has all the features and abilities of atherapeutical training device (12) and additional features, which willbe described in detail later. The shown embodiment of the therapy system(10) includes 12 therapeutical training devices (12) and one masterdevice (12′). The number of master devices (12′) must be one, whereasthe number of therapeutical training devices (12) may vary.

FIG. 2 shows a 3D view of a therapeutical training device (12) having ashallow and quadratic casing (20). The casing (20) is preferably mouldedin a plastic material, such as for example polyurethane. The casing (20)further encompasses a quadratic front surface (14), a quadratic backsurface (16) opposite the front surface (14) and four shallowrectangular side surfaces (18). The top surface (14) comprises a userinterface having a centrally located circular cover (26) and an outerring shaped transparent plate (24) surrounding a circular cover (26).The transparent plate (24) is preferably made of a robust plasticmaterial such as plexiglass and is fixed onto the casing. The circularcover (26) is preferably made of a robust plastic material and isflexible in its position. With flexible is in this context meant thatthe circular cover (26) either may be placed loosely in the transparentplate (24) permitting the circular cover (26) to be moved a certaindistance into the casing (20) or the circular cover (26) being fixatedto the casing (20) but soft and easily stretchable and able to protrudea certain distance into the casing when applying a force onto thecircular cover (26).

FIG. 3 shows a 3D exploded view of a therapeutical training device (12).The top surface (14) comprises a centrally located circular cavity (30).The cavity (30) comprises a centrally located raised platform (28)protruding a distance less than the depth of the cavity. Between theraised platform (28) and the circular cover (26) a force sensitiveresistor (FSR, not shown) is located sensing the force applied from theoutside onto the circular cover (26). The circular cavity (30) furthercomprises a circular printed circuit board (PCB, not shown). Each of thefour sides (18) of the therapeutical training device (12) comprises twopermanent magnets (32) oriented in view of polarity in such a way thatattachment to other therapeutical training devices (12) is permitted.The strength of the permanent magnets (32) should be chosen to allowsimple attachment and detachment by use of hand force, and still providesufficient strength to hold the therapeutical training devices (12)fixated and clustered during use as a therapeutical training system(10). Electro magnets may in an alternative embodiment replace thepermanent magnets. Each side (18) of the therapeutical training device(12) further comprises a centrally located communication port (34)forming a tubular channel extending from the outside into the circularcavity (30) housing the PCB. The communication port (34) preferably usesIR (infrared) communication means for exchange of information with othertherapeutical training devices (12). One of the sides of thetherapeutical training device (12) further comprises a battery chargingport (36), used for connecting a battery charger to charge the internalbatteries (not shown) located on the PCB (not shown).

FIG. 4 a shows a different 3D view of the front surface (14) of atherapeutical training device (12). The circular cavity (30) is providedwith four fixation studs (38) for fixating the PCB (not shown) insidethe circular cavity (30).

FIG. 4 b shows a different 3D view of the front surface (14) of atherapeutical training device (12). The circular cavity (30) is providedwith a data communication port (42) for communicating to an external PC(personal computer). The data communication port (42) comprises a JTAGprogramming plug used for attaching a programming cable allowing the PCBto be configured using e.g. an external PC.

FIG. 4 c shows a different 3D view of the front surface (14) of atherapeutical training device (12).

FIG. 4 d shows a different 3D view of the back surface (16) of atherapeutical training device (12). The back surface (16) comprises fourwall fixation magnets (40) for use when the therapy system (10) is usedvertically mounted onto e.g. a wall. The back surface (16) furthercomprises the outside end of the data communication port (42)

FIGS. 5 a-5 d show a 3D transparent view of a therapeutical trainingdevice (12) from a variety of angles.

FIGS. 6 a-6 j show a flow chart view of a printed circuit board PCB (50)of a device. In the centre of the PCB (50) the microprocessor (60) canbe found. The ATmega 1280 microprocessor (60) is used for controllingall the other components and for running various kind of software suchas games. Four IR communication units (52) communicate to themicroprocessor (60) and further detects if any other device is assembledin any of the four neighbouring positions and if such neighbouringdevice or devices are present communicating using infrared light to theneighbouring devices. Each IR communication unit (52) comprise aseparate encoder and transceiver. Further connected to themicroprocessor are eight LED (light emitting diode) units (54). The LEDunit (54) each comprise three LED:s of different colors (blue, red andgreen). The battery unit (56) holds the three NIMH rechargeablebatteries and includes a circuitry for monitoring the charge level ofthe batteries as well as controlling charging and discharging of thebatteries. Low battery level is detected by the battery unit (56) andindicated to the user by the LED units (54). The user can recharge thebatteries by simply connecting a separate charger unit (not shown) tothe battery charging port (36), which in turn is connected to thebattery unit (56). The time needed to fully charge the dischargedbatteries is 16-18 hours. For avoid unnecessary battery wear, the PCB(50) will power down if the therapeutical training device (12) is leftunused for more than 5 minutes or if the therapeutical training device(12) is removed from the therapy system (10). The 2D accelerometer (58)detects horizontal or vertical placement of the device. Additionally, awireless communication unit (62) and a force sensitive resistor (64) areconnected to the microprocessor (60). The FSR preferably has a limiter,thus not reporting very low forces and limiting very high forces. TheFSR may be analogue or digital.

FIG. 7 shows a physical layout view of a circular printed circuit boardPCB (50) designed to be fitted in the circular cavity (30). The four IRcommunication units (52) are located close to the edge of the PCB (50)separated by 90 degrees in such a way that each IR communication unit(52) match a corresponding communication port (34) at each side surface(16) and permit a direct line-of-sight to the communication port and IRcommunication unit of a connected neighbouring device. The word matchshould in this context be understood to mean that the IR communicationunit (52) should be positioned in a way to enable IR communication froma specific IR communication unit (52) through a specific communicationport (34) and further through a communication port (34) of aneighbouring device to a IR communication unit (52) of a neighbouringdevice if such a neighbouring device is available in the presentstructure of the therapeutical training device (10). If such aneighbouring device is present between the communicating IRcommunication units and IR communication can be performed successfully,the software running on the therapeutical training system (10) will beinformed about the position of the neighbouring device. If IRcommunication cannot be established, the software assumes noneighbouring device in the specific position. Each therapeuticaltraining device (12) may have up to four neighbouring devices separatedby 90 degrees, i.e. a neighbour to the north, south, east and west. Thesoftware running on the therapeutical training system will further beupdated if any devices are added or removed from the therapeuticaltraining device. In this context device may mean a therapeuticaltraining device (12) as well as other devices and apparatus compatiblewith the hardware and software of a therapeutically training device.With IR communication should be understood both sending and receiving ofIR data signals. The data signals are preferably digital coded signals,however, analogue communication may be possible as well. The eight LEDunits (54) should be positioned to allow light signals from the LEDunits (54) to penetrate the transparent plate (24) and be clearlyconceived by a user. For additional clarity and aesthetic appearance theLED units (54) are preferably distributed to form a circular appearance,i.e. being separated 45 degrees in this case of using eight LED units.The battery unit (56) includes three battery holders, fitted on top ofthe PCB (50) for easy access and designed for AA rechargeable batteries.

FIGS. 8 a-8 d show a flow chart view of the PCB add-on chip (70) used inthe master device (11′) only. The PCB add-on chip (70) comprises a radiocommunication unit (74) (XBee) used by the master device to enablewireless communication with other master devices of other therapysystems. Such wireless communication may be utilized for combining twotherapeutical training systems into one therapeutical training systemwithout the need of a physical connection. Further use involves runningspecific software on the master device such as for example comparingresults of different patient running the same exercise simultaneously orcontrolling the therapy system from an external PC. A display unit (76)for showing text messages and an array of buttons (72) comprising fourbuttons are provided on the master device (70) for direct userinteraction. The buttons are used to setup the software. The charge pump(78) (TPS60130) is used to provide power to the circuitry.

FIG. 9 shows a physical layout view of the PCB add-on chip (70). The PCBadd-on chip (70) is mounted on the circular printed circuit board PCB(50). The array of buttons (72) is located such as to be operated fromthe outside of the device in a convenient way. The casing (20) for themaster device (12′) is to be modified in a way to fit the array ofbuttons (72) in a convenient and user-friendly way. The buttons are usedto interact with the software running on the therapeutical trainingdevice. The radio communication unit (74), the display unit (76) and thecharge pump (78) are located on the PCB add-on chip (70) as well.

Upon assembling the therapy system, the hardware will detect thephysical structure of the therapeutical training system as describedabove. The software will use the information of the physical structurein setting up a therapeutical training program and evaluating the resultof the patient. Below numerous embodiments of therapeutic exercises orgames will be described in detail.

On the presently preferred embodiment of the invention, software can runon the ATmega 1280 microprocessors in the therapeutical trainingdevices. If the game “Chasing Colors” is chosen on the master device,the master device will ask for number of participants (1-6), andthereafter duration of play (0.5, 1, 1.5, 2, 2.5, 5 minutes). Thephysical structure of the therapeutical training device is checked andthen the master device asks for start: when the down button is pressedthe game will start. According to the number of players, that number ofcolors will show up at random therapeutical training devices on thetherapeutical training system. For instance, if three players areselected, there will be one therapeutical training device lighting up inred, one therapeutical training device lighting up in blue, and onetherapeutical training device lighting up in yellow. When one of thetherapeutical training devices which is lightened up in a specific coloris pressed, the information will be sent to the master device by IRcommunication. The master device counts up a variable of that color withone, the color will be turned off on the current therapeutical trainingdevice and shown at another randomly selected therapeutical trainingdevice. When the selected time has passed (e.g. 1 minute), the masterdevice will check the different color variables and the color that waspressed most times (the winner) will be shown on all therapeuticaltraining devices (i.e. the master device sends information to thetherapeutical training devices to show that color). After 10 seconds ofshowing the winning color, the game will restart.

Hence, in the presently preferred use of this game, the users willselect the number of participants and duration of games, and then chaseone color each. The user who hits most therapeutical training devicesshowing his/her color within the selected duration of a game will winthe game, indicated by his/her color lighting up on all therapeuticaltraining devices for 10 seconds, before a new game starts again. Userscompete at the same time on one therapeutical training system and haveto navigate around each other to “catch” the colors. In physiotherapy,sports and fitness training, this activity is used to create a rise inpulse amongst the participants.

For instance, if the therapeutical training system is put as a structureon the floor, the participant will be walking, running or jumping aroundon the therapeutical training system to hit the ones with theirindividual color with the feet. Alternatively, some users may choose tocrawl on the therapeutical training system and hit the therapeuticaltraining devices with their hands or knees. If the therapeuticaltraining system is put as a structure on a wall, the users will bemoving around to hit the therapeutical training devices with theirhands.

The system, through the master device, checks the size of the structureusing the IR communication units of each therapeutical training devicein order not to allow more participants than there are therapeuticaltraining devices available in the structure. The master device is alwayskeeping track of number of therapeutical training devices in thestructure (see description above).

The game motivates to perform physical activities because it is fun,challenging and social. Similar games with similar attributes can bemade on the therapeutical training system.

In the game “Floor and Wall”, the user builds two therapeutical trainingsystems, each having a master device. The two therapeutical trainingsystems, designated “floor”-structure and “wall”-structure arephysically separated (e.g. one structure is on the floor and onestructure is on a wall or alternatively they are located in twodifferent rooms or the like. The user selects “Floor” on one masterdevice, number of players and duration of game, in the same way as forthe Chasing Colors game described above. On the other master device, theuser selects “Wall”. When start is indicated by pushing the down buttonon the “Floor” master device, the game will start on both“floor”-structure and “wall”-structure. The game is similar to theChasing Colors game: a specific color appears either on the“floor”-structure or on the “wall”-structure. The two master devicescommunicate with each other by radio communication (XBee), and therebythe “floor” master device can send colors to randomly chosentherapeutical training devices either the “floor” structure or the“wall” structure. Other games using distributed therapeutical trainingsystems that communicate with radio communication may be implemented.

In the “Simon says” game, the user only has to press start. When thegame starts, one therapeutical training device will light up for 3seconds and then turn off. The user now has to repeat by pressing onthat specific therapeutical training device to make it light up. If theuser presses the therapeutical training device that lighted up before,then it is correct, and all therapeutical training devices will light upin green for 3 seconds. If the user presses any other therapeuticaltraining device, then all therapeutical training devices will light upin red, and the game will end. In the case of the correct action, thegame will now show the first therapeutical training device light upagain, turn off, and show a second therapeutical training device lightup for 3 seconds before it turns off. The user now has to repeat thesequence on pressing the two therapeutical training devices in the orderthat was shown by the system. If the order that the user presses iscorrect, then all devices light up in green, else they light up in redand the game ends. The game continues allowing the user to try to repeat3 lights, 4 lights, 5 lights, 6 lights, etc. until the user makes anerror by pressing a therapeutical training device in the incorrectsequence. Users can compete against themselves on how long sequencesthey can make, and they can compete against each other on how longsequences they can make. The users can build different physicaltherapeutical training device structures to run the game on, in order tomake the game easier or more difficult. Similar cognitive tasks, memoryand imitation games can be made and, for instance, used in cognitiverehabilitation with the aspect of being both cognitive and physicalgames.

In the “Disco” game, a therapeutical training device lights up in arandom color when it is pressed. If no therapeutical training device ispressed for 2 seconds, then all therapeutical training devices will turnoff. Hence, the user can move around and continuously press thetherapeutical training devices to make them change color (e.g. from redto blue to yellow to magenta to green to purple, etc.). The user maychoose to play external music along with playing the game. Similardancing games can be implemented on the therapeutical training system.

There are also one-player games such as “Stepper”. The user selects theduration of game (0.5, 1, 1.5, 2, 2.5, 5 minutes). In Stepper, themaster device will investigate the physical structure built by the userand find the longest rectangle with 2 therapeutical training devices onone side (i.e. 2*2, 2*3, 2*4, 2*5, . . . ). It will indicate by color onthe first two that the user should place him/herself with a foot on eachof these two. On the two therapeutical training devices furthest away,light will show in colors depending on the speed with which the usersteps on the two therapeutical training devices where he/she ispositioned. The indicator therapeutical training devices will show up inyellow, green and red in this order based on the speed on the stepping.In the “Reach” game, the start procedure is similar to the Stepper game.

Here the user has to reach out and touch the therapeutical trainingdevices that light up. The therapeutical training devices light up in acolor that may indicate that the user should use the left or rightleg/arm to reach out and touch that therapeutical training device. Theuser can also select if the touch to activate the therapeutical trainingdevices should be light, middle or hard (which is measured by theanalogue FSR sensor). This may, for instance, allow physiotherapists andfitness trainers to select level for specific users. The “Reach” gamecan, for instance, be used for balance training.

In the “Ball game”, the user selects the level (1, 2, 3) and theduration of the game (0.5, 1, 1.5, 2, 2.5, 5 minutes). The master devicewill send information to the therapeutical training devices to have alight signal traverse the therapeutical training devices in differentpatterns (depending on the chosen level), for instance horizontally. Theuser now has to hit the therapeutical training devices that light upwith a ball (e.g. football or handball) from a distance chosen by theuser. If the user hits the light a specific number of times (dependingon the level) within the duration of the game, all therapeuticaltraining devices will show up in blinking green, indicating that theuser has won the game. A similar game may be used for e.g. racketsports.

Additional features of the preferred embodiment of the invention includea battery management system. When the battery level of a therapeuticaltraining device is low, this will be indicated by the lights of thetherapeutical training device rotating in red, while in a master deviceit will be written in the display. A charger can be attached to theblock in the charging plug on the side of the therapeutical trainingdevices, and the batteries will be fully recharged within 16-18 hours.

The therapeutical training system consists of a number of therapeuticaltraining devices as described above. The therapeutical training devicescan be put together to form different structures. The magnets on thesides of the therapeutical training devices makes the blocks snap andhold together. When a master device is put together with a cluster ofone or more therapeutical training devices, the master block will sendIR signals to the first neighbouring therapeutical training device,which will receive this IR signal as a wake-up signal and relay thesignal to its own neighbours by IR communication to its North, East,South, West side. Where there is a therapeutical training device on theNorth, East, South or West, that (those) therapeutical trainingdevice(s) will then, at its (their) turn, relay the signal to its(their) own neighbours. And those therapeutical training devices willreceive and relay the signal, and so forth. When a therapeuticaltraining device receives a signal, it sends back a receipt, so a sendingtherapeutical training device can obtain knowledge about its ownneighbourhood structure by keeping track of from where it receivesreceipts. For instance, it will have a neighbour to the North if itreceives a receipt from North. The neighbourhood structure of atherapeutical training device is sent back to the device from which itreceived the signal, and so the different neighbourhood structures canbe relayed back to the master device. Based on this information, themaster device can simply build a tree structure and a map of the layoutof the therapeutical training devices. This map of the physicalstructure, which has been built by the user, is used by the system forthe different software games. The therapeutical training devices willcontinuously send IR signals to their North, East, South, Westneighbours and receive receipts from those positions that are occupiedby other blocks. If they receive signals from a position, which was notoccupied at the previous time stamp, or if they do not receive signalsfrom a position that was occupied at the previous time stamp, then thesystem recognizes that the structure has been changed (either by theaddition of a block or the removal of a block). If this happens, themaster block will re-initiate a count of blocks and their positions inorder to build an updated tree structure and map of the physical layout.Hence, the recognition of changes in structure happens immediately atrun-time. Therefore, it becomes possible for the user to build differentstructures with the therapeutical training devices, and possible for thesystem itself to recognize what structure the user has built.

If the therapeutical training devices are not used for 5 minutes, theywill power down. Also, if a therapeutical training device is removedfrom the structure, it will blink three times and then power down.

With the system's knowledge of the physical structure and the continuousupdate of possible changes to the structure, the software games canutilize the physical structure to make games automatically becomeappropriate to the individual structures. The softwares (games) canadjust themselves when the structure is changed.

The buttons on the master device can be used to select games. In theprototype implementation, there are four buttons on the master device:home, left arrow, right arrow, down arrow. A small display on the masterdevice will show text information. Initially, it will tell that thestructure is being detected and print the number of therapeuticaltraining devices found in the structure. Then the software will ask theuser to select a game. By pressing the left arrow or the right arrow,the user may browse backward or forward in the list of games. The downbutton can be used to select one of the games. When a game is selected,the software may ask for further details from the user such as number ofplayers, which again is selected by the arrows. Other selections to bemade may include game level and duration of play.

When a game has been selected on the master device and possibly otheroptions selected, the master device will send this information throughthe tree structure to all the therapeutical training devices, and thegame will start.

Although the present invention has been described above with referenceto specific and presently preferred embodiments of a therapy system andother devices and methods also constituting a part of the invention, itwill be evident to a person having ordinary skill in the art that thetherapy system including all of the devices and methods may be modifiedin numerous ways.

For example, it would be evident to a person skilled in the art that theinvention may be performed using different energy sources, such as solarpower or retrieval of energy from the physical activation of the system.Single use batteries or an external AC or DC source may replace therechargeable batteries. The devices may be moulded in another plasticmaterial and another transparent material could be used for thetransparent ring. A flexible film or foil may be used instead of thecircular cover and function as buttons or the buttons may be reinforced.The shape of the device may take other forms than quadratic and stillallowing the devices to be assembled to form an overall structure (e.g.like a puzzle), and the surface may comprise grooves and be generallyuneven. Additionally, light could be emitted in other patterns than aring, such as for example a square or circle, or sound effects mayreplace or accompany the light. The electronic components could besubstituted for other, similar components. The PCB may be chosen to havea different form in order to minimize the PCB size. The hardware may befully or to a large extent be replaced by a personal computer. Thecommunication between the devices may be performed by other means thanIR, such as for example by radio or wire. Software features may becontrolled differently such as for example by pressing on one or more ofthe devices or an RFID system with RFID tags may be applied for gameselection. Additional software features may be implemented, such asother games. For instance, a Music game may allow the user to controlMIDI signals by pressing the different therapeutical training devicesand a specific sound device may be used for playing the MIDI signals.Such a sound device may include all the features of the before mentionedtherapeutical training devices additionally including a sound PCB andMIDI chip add-on. Alternatively, the sounds may be played on a hostcomputer, with the signal being sent preferably by radio communicationfrom the master device.

LIST OF PARTS

-   10 Therapy system-   12 Therapeutical training device-   12′ Master device-   14 Front surface-   16 Back surface-   18 Side surface-   20 Casing-   24 Transparent plate-   26 Circular cover-   28 Raised platform-   30 Circular cavity-   32 Magnet-   34 Communication port-   36 Battery charging port (connector)-   38 Fixation stud-   40 Wall fixation magnet-   42 Data communication port-   50 Printed circuit board PCB-   52 IR communication unit-   54 LED unit-   56 Battery unit-   28 2D Accelerometer-   60 Microprocessor-   62 wireless communication unit-   64 Force sensitive resistor-   70 PCB add-on chip-   72 Array of buttons-   74 Radio communication unit-   76 Display unit-   78 Charge pump

1. A therapeutic training device comprising a shallow housing of aspecific shape having a quadratic top surface, a quadratic bottomsurface and four rectangular side surfaces, said housing including anupwardly open cavity in said top surface, a flexible and transparentcover enclosing said cavity at least partially, said flexible andtransparent cover having a size in a range between a size of a humanfist and a size of a human foot, and defining a central part, a forcesensor placed inside said cavity and communicating with said centralpart, said force sensor measuring a force applied on said flexible andtransparent cover and generating a response signal, a light sourceplaced inside said cavity, said light source being visible through saidflexible and transparent cover, a central processor placed inside saidhousing for activating said light source in accordance with a specificsoftware and evaluating said response signal from said force sensor inaccordance with said specific software, and a plurality of communicationmeans located on said side surfaces controlled by said central processorfor communicating with adjacent devices.
 2. A therapeutic trainingdevice comprising a shallow housing of a specific shape having aquadratic top surface, a quadratic bottom surface and four rectangularside surfaces, said housing including an upwardly open cavity in saidtop surface, a flexible and sound pervious cover enclosing said cavityat least partially, said flexible and sound pervious cover having a sizein a range between a size of a human fist and a size of a human foot,and defining a central part, a force sensor placed inside said cavityand communicating with said central part, said force sensor measuring aforce applied on said flexible and sound pervious cover and generating aresponse signal, a sound source placed inside said cavity, said soundsource being audible through said flexible and sound pervious cover, acentral processor placed inside said housing for activating said soundsource in accordance with a specific software and evaluating saidresponse signal from said force sensor in accordance with said specificsoftware, and a plurality of communication means located on said sidesurfaces controlled by said central processor for communicating withadjacent devices.
 3. The therapeutic training device according to claim1, wherein said light source includes a light emitting diode.
 4. Thetherapeutic training device according to claim 2, wherein said soundsource includes a piezoelectric loudspeaker.
 5. The therapeutic trainingsystem according to claim 1, wherein said central part includes a shockresistant part.
 6. The therapeutic training device according to claim 1,further comprising a plurality of fixating means located on said sidesurfaces for fastening said housing onto other therapeutic trainingdevices.
 7. The therapeutic training device according to claim 1,further comprising a plurality of fixating means located on said bottomsurface for fastening said housing onto a wall.
 8. The therapeutictraining device according to claim 6, wherein said fixating meansinclude at least one of permanent magnets and electro magnets.
 9. Thetherapeutic training device according to claim 1, wherein said forcesensor includes a force resistive sensor.
 10. The therapeutic trainingdevice according to claim 1, wherein said communication means includesinfrared communication means.
 11. The therapeutic training deviceaccording to claim 1, wherein therein are a plurality of said housingsfastened in a specific pattern using fastening means and communicatingwith each other using communication means to form a therapeutic trainingsystem.
 12. The therapeutic training device according to claim 11,wherein said therapeutic training system includes a master device havinga communication system for at least one of communicating with anothertherapeutic training system and communicating with a personal computer.13. The therapeutic training device according to claim 12, wherein saidtherapeutic training system is controlled by the personal computer. 14.The therapeutic training system according to claim 2, wherein saidcentral part includes a shock resistant part.
 15. The therapeutictraining device according to claim 2, further comprising a plurality offixating means located on said side surfaces for fastening said housingonto other therapeutic training devices.
 16. The therapeutic trainingdevice according to claim 2, further comprising a plurality of fixatingmeans located on said bottom surface for fastening said housing onto awall.
 17. The therapeutic training device according to claim 7, whereinsaid fixating means include at least one of permanent magnets andelectro magnets.
 18. The therapeutic training device according to claim2, wherein said force sensor includes a force resistive sensor.
 19. Thetherapeutic training device according to claim 2, wherein saidcommunication means includes infrared communication means.
 20. Thetherapeutic training device according to claim 2, wherein therein are aplurality of said housings fastened in a specific pattern usingfastening means and communicating with each other using communicationmeans to form a therapeutic training system.
 21. The therapeutictraining device according to claim 20, wherein said therapeutic trainingsystem includes a master device having a communication system for atleast one of communicating with another therapeutic training system andcommunicating with a personal computer.
 22. The therapeutic trainingdevice according to claim 21, wherein said therapeutic training systemis controlled by the personal computer.